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NAVsolvePost-processing

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NAVsolve Manual

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Revision

Document Revision: 190204.

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NAVsolve Manual

Common abbreviations ..............................................................................................................7

Introduction ................................................................................................................................8

NAVsuite software .....................................................................................................................9How to install......................................................................................................................9System requirements ..........................................................................................................9Admin rights .......................................................................................................................9To uninstall NAVsuite ......................................................................................................10NAVsuite applications ......................................................................................................10Documentation..................................................................................................................11Launching NAVsolve .......................................................................................................11

Using NAVsolve.......................................................................................................................12

Source page ..............................................................................................................................13To process raw data files that have not yet been downloaded:........................................13To work with raw data files that have been downloaded but not processed:..................14To work with files that have already been downloaded and processed: .........................14

Preview page ............................................................................................................................15Select file control..............................................................................................................15Product information tab....................................................................................................16Graph tab...........................................................................................................................17Data analysis tab...............................................................................................................19

Process page .............................................................................................................................20Select file control..............................................................................................................20Process Tab .......................................................................................................................21

Review configuration................................................................................................22Process.......................................................................................................................23Cook/Process/Combine tabs .....................................................................................23

Base Station ......................................................................................................................24Advanced settings.............................................................................................................25

Advanced Processing Settings..................................................................................25Application Settings..................................................................................................26

Processing the data ...........................................................................................................26

Export page ..............................................................................................................................27Format tab.........................................................................................................................28Files tab.............................................................................................................................29Measurements tab.............................................................................................................32Graph tab...........................................................................................................................34Exporting the data.............................................................................................................35

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File formats.............................................................................................................................. 41OTA file............................................................................................................................ 413DP file ............................................................................................................................ 42

Index ........................................................................................................................................ 44

Requirements for Combined (Forwards + Backwards) processing........................................38General requirements........................................................................................................38

Advanced commands...............................................................................................................39

Revision histroy....................................................................................................................... 43


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7

Common abbreviations

AB Dynamics Anthony Best DynamicsCAN Controller Area NetworkCEP Circular Error ProbabilityCPU Central Processing UnitDGPS Differential Global Positioning SystemECCN Export Control Classification NumberEGNOS European Geostationary Navigation Overlay ServiceFTP File Transfer ProtocolGAGAN GPS Aided Geo Augmented NavigationGLONASS GLObal NAvigation Satellite SystemGNSS Global Navigation Satellite SystemGPS Global Positioning SystemIMU Inertial Measurement UnitINS Inertial Navigation SystemLED Light Emitting DiodeMFDD Mean Fully Developed DecelerationMSAS MTSAT Satellite Augmentation SystemNMEA National Marine Electronics AssociationNTRIP Networked Transport of RTCM via Internet ProtocolPPS Pulse(s) Per SecondRD Raw Data (an OxTS file format)RINEX Receiver INdependent EXchange formatRTK Real-Time KinematicsSBAS Satellite Based Augmentation SystemSDCM System for Differential Corrections and MonitoringSPS Standard Positioning ServiceTCP Transmission Control ProtocolTNC Threaded Neill-ConcelmanTTFF Time To First FixTTL Transistor-Transistor LogicUDP User Datagram ProtocolVUT Vehicle Under TestWAAS Wide Area Augmentation SystemWGS 84 World Geodetic System 1984WLAN Wireless Local Area Network

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Introduction

Thank you for choosing Oxford Technical Solutions.

NAVsolve is a post-processing application installed as part of our NAVsuite software.NAVsolve is supplied free of charge with all our inertial navigation systems and base stationproducts. As well as performing basic post-processing tasks such as applying differentialcorrections and selectively exporting data to a number of different file formats, NAVsolvecan also reduce drift and correct configuration errors that may have been overlooked duringtesting.

This manual will guide you through the process of post-processing your data and exportingthe results. It is assumed that you have already read the manual supplied with your GNSS/INS product or base station and understand how to operate and configure it correctly.

For online help, please visit our support website https://support.oxts.com and navigate to thesoftware section.

https://support.oxts.com



NAVsolve Manual

NAVsuite software

NAVsuite is a collection of free software applications, including NAVsolve, that support theuse of OxTS inertial navigation systems and base stations. The following section describesthe installation process and gives a brief description of the installed applications.

How to install

A USB memory stick containing the NAVsuite software package is supplied with eachinertial navigation system or base station. If you don’t have access to the USB memory stick,NAVsuite can also be downloaded from the support website (support.oxts.com) bynavigating to the software section, then NAVsuite and following the download link.

To run the installer, double-click the NAVsetup.exe icon and then follow the on-screenprompts. If you have downloaded NAVsuite from the support website, you will need to unzipthe saved file first.

Note: please restart the PC after the NAVsuite installer successfully completes

System requirements

NAVsuite installs and runs on PCs running Microsoft Windows 7, 8 or 10 (either 32- and 64-bit versions). Please ensure the latest operating system service packs are installed. Thefollowing components are also required to run NAVsuite and will be automatically installedif not detected.

• Microsoft .NET Framework 4.6.1 or newer

• Microsoft Visual C++ 2010 x86 Redistributable, 10.0.30319.1 or newer

• Microsoft Visual C++ 2015 Redistributable (x86) 14.0.23026 or newer

While an Ethernet port is not required to launch NAVsuite applications, some features ofprograms that communicate with products will be unavailable or restricted without one.

Admin rights

For successful installation, administrative rights are required to configure the firewall for theFTP and UDP port, so you may need to contact your system administrator. Write access isalso required for the following system folders:

• Common Files

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https://support.oxts.com/hc/en-us

• Program Files or Program Files (x86) depending on operating system

• Program Data

• Users\<current user>\Documents

To uninstall NAVsuite

NAVsuite can be removed from the PC by navigating to Control Panel > Programs >Programs and Features then selecting NAVsuite from the list and clicking Uninstall. It willthen remove all files and applications for NAVsuite. The uninstall feature will not touch thedata folder at the path C:\Users\<user name>\Documents\OxTS\NAVsolve.

NAVsuite applications

Table 1 lists the items installed by NAVsuite and gives a brief explanation of their purpose.

Table 1. NAVsuite componentsSoftware DescriptionEnginuity Legacy application, now superseded by NAVdisplay but supplied as part of a

transition period.NAVbase Used to configure and manage RT-Base S and GPS-Base base stations, which can be

used to achieve RTK integer level position accuracyNAVconfig Used to create, send, and receive configurations from OxTS inertial navigation

systems.NAVdisplay Used to view real-time data from OxTS products via Ethernet or a serial port. It can

also be used to transmit special commands and replay logged dataNAVgraph Used to graph NCOM, XCOM and RCOM files created in post-process. It can display

graphs, cursor tables and map plots and data can be exported in CSV or KML (Google Earth) format

NAVsolve Replacement for RT Post-Process. Used to download raw data files and post-process the data. The configuration used while collecting the data can also be changed and differential corrections applied before the data is reprocessed. It can export NCOM, MCOM and CSV file formats

RT Post-process Used to download raw data files and post-process the data. The configuration used while collecting the data can also be changed and differential corrections applied before the data is reprocessed. It can export NCOM, XCOM and CSV file formats

NAVsolve Replacement for RT Post-Process. Used to download raw data files and post-process the data. The configuration used while collecting the data can also be changed and differential corrections applied before the data is reprocessed. It can export NCOM, MCOM and CSV file formats


NAVsolve Manual

Documentation

In addition to the main applications, the NAVsuite installer also copies a number PDFmanuals and help documents to the computer’s disk. The documents are located inC:\Program Files (x86)\OxTS\Manuals and can be accessed via the OxTS folder in the Startmenu.

Launching NAVsolve

NAVsolve is launched from the Start menu. Click Start and type NAVsolve, then click on theNAVsolve application icon. If Windows can’t find NAVsolve prior to its first launch afterinstallation, it can be found by navigating to Start > OxTS > NAVsolve. The NAVsolve userinterface is shown below in Figure 1.

Figure 1. NAVsolve’s user interface

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Using NAVsolve

Figure 2. NAVsolve interface at startup

NAVsolve aims to make processing and manipulating your data as simple as possible. To dothis, the user interface has been separated into four pages called Source, Preview, Process andExport (Figure 3). These groups have been chosen to reflect the key stages in a normalworkflow.

Figure 3. Control groups in NAVsolve

To navigate around the NAVsolve interface, simply click the icons on the left-hand side of thepage to move to that page.


NAVsolve Manual

Source page

The controls located on the Source page allow you to define the specific file or files to beprocessed, their location and to define where the processed output files should be placed.While NAVsolve doesn’t automatically batch process files, it is possible to select multiplefiles from the same folder on the Source page, which are then easily accessible on subsequentpages using the Select file control. This makes processing several files that require similarsettings, much more efficient.

Figure 4. Source page controls

To process raw data files that have not yet been downloaded:

1. Select Select raw data from an inertial navigation system on the network.

2. Select a product from the Inertial navigation system IP address menu.NAVsolve will automatically populate this menu with information from any liveINS products that are connected via Ethernet.

3. Once an inertial navigation system has been selected, the File select window willbe populated with all RD files that available for download. Select the file or filesyou wish to process by placing a mark in the Select column. Selected files willbe downloaded, but not deleted from the inertial navigation system.

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Note: Downloading commences when you leave the Source page.

4. Choose a working folder. When downloading raw data files from an inertialnavigation system, the Working folder path will be set to the default path(C:\users\username\Documents\OxTS\NAVsolve\Data\). To change this, clickBrowse... and select a new path.

5. When you are ready, click Preview in the navigation bar.

To work with raw data files that have been downloaded but not processed:

1. Select Select raw data from a folder on your computer.

2. Click Browse... in the Raw data folder menu and navigate to the foldercontaining the raw data files. Alternatively, to return to a previously usedlocation, click on the bar containing the filepath and choose a path from the list.

3. Select the raw data file or files you wish to process by placing a mark in theSelect column.

4. The Working folder path will automatically be updated to match the Raw datafolder path, so new files are kept with the original data. However, this can bemanually overridden by clicking Browse....


To work with files that have already been downloaded and processed:

1. Select Select processed navigation data from a folder on your PC.

Note: When this option is selected, the Process icon is disabled.

2. Click Browse... in the Processed navigation data folder menu and navigate to thedesired folder. Alternatively, return to a previously used location click on the barcontaining the file path and choose a path from the list.

3. Select any *.NCOM, *.MCOM or *.XCOM files you wish to process by placinga mark in the Select column.

4. The Working folder path will automatically be updated to match the Processednavigation data path, so new files are kept with the original data. This can bemanually overridden by clicking Browse....



NAVsolve Manual

Preview page

Figure 5. Preview page

The controls on the Preview page provide a method of checking information about thespecific inertial navigation product that was use to collect the data, previewing themeasurement file(s) selected on the Source page and viewing a summary of the packet typesthat make up each data file.

Select file control

Figure 6. Select file control

The Select file control lists all of the files selected for processing on the Source page. Theinformation shown on the Preview page relates to whichever file is currently selected in the

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Select file control. To preview information for different files, simply select the relevant filefrom the list and the controls on the Preview page will update.

Product information tab

Figure 7. Product information tab

The Product information tab extracts comprehensive information about the inertialnavigation product that was used to create the selected measurement file. It contains threesub-tabs called Product details, Feature codes and Hardware configuration that allow you tofind specific information about the hardware used to capture the currently selected file.


NAVsolve Manual

Graph tab

Figure 8. Graph tab on preview page

The Graph tab shown in Figure 8 provides a quick method of checking a file, prior toprocessing it. The elements that make up the Graph tab are explained below.

Graph window

Figure 9. The graph window

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The graph window shown in Figure 9 displays a single measurement from the currently selected file, plotted over time. The default measurement is GNSS 1 Speed 3D, but any measurement present in the Measurements window (Figure 11), can be displayed by double-clicking it. The currently plotted measurement is highlighted in red in the Measurements window.

The purple measurement cursor above the plot area displays the current time value and can be dragged left/right. As the cursor is moved, the values in the measurements window are updated to reflect the current measurement cursor position. A marker in the Map preview window (Figure 10) also updates to show the current position.

Controls to pan/zoom the graph can be accessed by clicking the icons (indicated by the red arrow in Figure 9 and Figure 10. Panning and zooming can also be achieved using SHIFT+drag and CTRL+drag.

Map preview window

Figure 10. Map preview window

The map preview window displays the route taken in the selected file by plotting the latitudeand longitude from the primary GNSS receiver. When an internet connection is available, thesame data can be viewed over satellite imagery by selecting the Bing Maps tab.

Measurements window


NAVsolve Manual

Figure 11. Measurements window

The measurements window displays the measurements available in the currently selected fileand their value based on the position of the measurement cursor above the plot area. Theactive measurement displayed in the graph windows is highlighted in red. To load a differentmeasurement into the graph window, double-click the measurement name.

Data analysis tab

The Data analysis tab (Figure 12) shows the number, and type, of packets that are containedwithin the selected data file. This information is not critical to processing data.

Figure 12. Data analysis tab

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Process page

Figure 13. Process page

The Process page shown in Figure 13 contains the most important settings in NAVsolve. Thesettings on this page determine how your data will be processed and which enhancements areapplied to it.

Select file control

Figure 14. Select file control

The Select file control lists all of files selected for processing on the Source page. Unlike thePreview page however, which updates the information it displays based on the currentlyselected file, the Process page applies its settings to the currently selected file.

This allows you to easily process several files using the same settings by simply selectingeach one from the Select file menu and then clicking Process. The file will then be processedusing the settings on the Process page.


NAVsolve Manual

Process Tab

The process tab shown in Figure 15 is used to provide processing feedback once the Processbutton has been clicked. Two important controls—Review configuration and Process—arealso located on the Process tab. More information is provided about these below.

Figure 15. Process tab

There is an additional setting for where to read the configuration from. The drop down lists 3 options: RawData, Device, File.

RawData - uses configuration files from the "ConfigurationFromRawData" folder that is created in the working folder when an RD file is loaded in NAVsolve. This configuration is extracted from the RD file when it's loaded and is the configuration that was active on the system when the RD file was created.

Device - uses configuration files from the "ConfigurationFromDevice" folder that is created in the working folder when an RD file is downloaded through NAVsolve from a connected system on the Source page. This is the active configuration on the system at the point the RD file is downloaded.

File - Browse for a configuration previously saved to disk.

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Review configuration

Figure 16. Clicking Review configuration opens a NAVconfig window


NAVsolve Manual

A copy of the configuration used while the INS captured the measurements is embedded inthe RD file. The Review configuration button allows that configuration to be modified beforethe data is processed by NAVsolve. Some of the settings do not apply to post-processing andthese are not automatically identified by NAVconfig. For example, it is not possible to changethe differential corrections used during post-processing.

To edit the configuration, click Review configuration. This will open a NAVconfig window(Figure 16), containing the configuration that NAVsolve will use. To save any changes youmake in NAVconfig, navigate to the Save/Finish page and click Finish.

Process

Figure 17. The Process control

The method NAVsolve uses to process data is selected using the Process control shown inFigure 17. NAVsolve offers three different processing options as shown in Table 2.

Table 2. NAVsolve processing optionsMethod Description

Simulated (Simulated) This technique processes the data forward in time using an algorithm that is virtually identical to the real-time processing. The only difference is that the Kalman filter in the real-time processing takes time to process, so its corrections are applied between 30 and 100 ms later. This occasionally leads to differences in the data compared to the real-time output. A single data folder called sim, is created in the working folder directory

Combined (Forwards + Backwards) The forwards/backwards algorithm uses the best processing techniques available, including processing the data forwards and backwards in time and combining the results together. For backwards processing to work the file must be able to "initialise" backwards. Three data folders called fwd, bwd and cmb are be createded in the working folder directory

Simulated and Combined (Simulated + Forwards + Backwards)

The Simulated and Combined option simply executes both of the above techniques. Four data folders called sim, fwd, bwd and cmb will be created in the working folder directory

Cook/Process/Combine tabs

The Cook, Process and Combine tabs are populated with information once Process has been clicked. They provide feedback on the progress of the post-processing engine which may be of use when diagnosing problems.

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Base Station

Figure 18. Base station tab

Differential corrections can be added on the Base station tab (Figure 18) in NAVsolve if theywere not applied in real-time. RTCMv3 or RINEX format base station files are supported.

If you have corrections stored locally, use the Browse… button to navigate to the folder thatcontains your base station files, and they will be displayed in the main window. Alternativelyyou can choose a search radius from the drop-down and click the Search… button toautomatically search for available RINEX base stations near the dataset. A list of availablebase stations within the search area will be displayed in the main window. You can thenDownload any desired base station files to make the corrections available for processing.Multiple RINEX files can be selected to be used in post-processing and NAVsolve willintelligently switch to the closest base station at any point throughout the dataset.

RINEX files that are stored locally or have been downloaded will appear on the map previewdisplay. The table to the right of the map shows some information of the base station such asthe station ID marker and its coordinates, read from the RINEX file header.

RINEX files use a naming convention that includes the day of the year to which they relate.To make it easier to verify that the files match the data you are using, NAVsolve displays theday of the year that the currently selected file was recorded on. This is displayed as Raw data


file Day of year on the right-hand side of the window.

NAVsolve Manual

Advanced settings

The Advanced settings tab contains some settings that allow you to tweak how NAVsolve behaves when processing files. The options listed on this tab are all unselected in their default state, as that is appropriate for most applications. Only select options if you are sure they are applicable to your application. The settings are described in more detail below.

Advanced Processing Settings

Figure 19. Advanced Processing Settings

Extract configurations from raw data file

When checked, NAVsolve will extract the configuration files from the RD file duringprocessing and save them in a folder called ConfigurationFromRawData. The folder willbe created in same folder as the currently selected RD file.

Enable advanced smoothing

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Processing the data

Once a processing technique has been selected and any advanced settings have beeconfigured, that data can be processed by clicking Process. Once clicked, progresinformation will be displayed on the Cook, Process and Combine tabs on the Process Tab.

Once a file has finished processing, another file can be processed using the same settings b

NCOM and MCOM files processed with this option selected will show much smoother anbetter optimised trajectories, because the blending of the forward and backward trajectories imuch finer and much closer to optimal. Combined XCOM is not significantly different fromthe standard combined XCOM with this option selected.

When using RTK Inertial Relock, advanced smoothing should be used with caution as it macause interference. Advanced smoothing also negates the position fixing feature if enabledso there can be position drift of the smoothed combined NCOM and MCOM outputs while vehicle is stationary—where there would not normally be position drift in the standarcombined NCOM and MCOM. The combined XCOM is unaffected.

Note: advanced smoothing can lead to 0.5 seconds of data being lost at the end of a run.

Output MCOM file

When this option is selected, an MCOM file will be output during processing. This option ionly works when using the "Simulated (Simulated" technique. This file format is supportedfor marine applications and is not used by most OxTS applications.

Application Settings

Figure 20. Application Settings

Clean-up working folder after processing

NAVsolve generates a lot of files in different sub-directories during processing. These take upspace on the disk. Selecting this option cleans up these files after processing. The softwarwill leave the *.KP file from any GPS processing in place so that the GPS does not need to breprocessed.

Display results in NAVgraph

Checking this option will automatically launch NAVgraph and open the processed file aftethe processing completes.


simply selecting it in the Select file control at the top of the page and clicking Process again.

NAVsolve Manual

Export page

Figure 21. Export Page

After processing a file or loading a processed file on the Source page, the Export page (shown in Figure 21 is used to configure the settings for exporting. The Select file menu bar at the top of the page now displays processed files (e.g. NCOM, MCOM, XCOM) rather than RD files.

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Format tab

Figure 22. Format tab

The format tab shown in Figure 22 contains the controls that allow you to configure how the data will be output when you click Export. The options available on this page are described in the table below.

Table 3. Time reference unit optionsOption name Description

Format Choose the time format used in the exported fileStart time The start time (shown in the selected format), is set by moving the

green marker on the Export page Graph tab (see Figure 28 on page 34). Data will be included in the Main export file from this reference point onwards


NAVsolve Manual

Files tab

NAVsolve can create files to export in three different ways:

1. A single file based on time, starting and stopping in relation to the parametersdefined on the Graph tab.

2. Multiple files, based on trigger information contained within the data file.

3. A single file, containing a single-line entry for each defined trigger even withinthe data file.

Stop time The Stop time (shown in the selected format), is set by moving the red marker on the Export page Graph tab (see Figure 28 on page 34). Data in the Main export file will not be included from this reference point onwards

Table 4. Output settingOption name Description

Output data rate Defines measurement frequency of the exported data.No filtering is used to do this; instead epochs are simply not written to the output file. NAVsolve should automatically identify 250 Hz if a 250 Hz input file is used

Interpolate Our INS products create measurements at 100 or 250 Hz. If the selected export rate is incompatible with the base measurement rate, the system will use the closest measurment point. When Interpolate is selected, it will interpolate measurements bewteeen to two closest points

File type Defines the output format of the data Options are CSV, POS, OTA and 3DP

Write status as When Text is selected, any Status messages selected for export will be displayed as text. When Number is selected, any Status messages will be displayed as a number only.

Write invalid as This setting determines how invalid measurements are handled. NCOM/MCOM includes a method of defining some measurements as "not valid" and this can be written into CSV files by using a blank field. However, some software does not accept blank fields. NAVsolve can fill in blank fields with zeros or it can hold the last known value

Headings Defines if the column headings should use the long or short names. This can also be set to none to make it easier to concatenate files

Table 3. Time reference unit options (Continued)Option name Description

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Each method of file creation is selectable, meaning any combination of file outputs can bechosen. The process of exporting each file type is listed below.

Export a single file based on time

1. Navigate to the Main output file tab, and select the Export to main output fileoption (Figure 24).

2. Use the Browse... button to choose where the exported file will be saved.

3. Select the Graph tab to check the Start and Stop time (defined with the red/green markers).

4. Click Export (note NAVsolve will overwrite existing files without warning).

Figure 23. Export page, Files tab, Main output file settings

Export a separate file for each trigger event

1. Select the Trigger output file tab (Figure 24).

2. Use the Export on option to choose which trigger events NAVsolve should use.

3. Navigate to the Auto tab, and select Export to auto incremented file.

4. Use the Browse... button to choose where the exported files will be saved. Click the -000 button to choose how the files should be auto-numbered.

5. Choose if NAVsolve should use the rising or falling edge of the selected trigger(s) to start and stop each export using the Trigger menus.

6. Click Export.


NAVsolve Manual

Figure 24. Export page, Files tab, Trigger output file

Export a single file containing information about all triggers

1. Select the Trigger output file tab (Figure 24).

2. Use the Export on option to choose which trigger events NAVsolve should use (note this setting also affects the auto-incriminated files).

3. Navigate to the All tab, and select Export to trigger file.

4. Use the Browse... button to choose where the exported file will be saved.

5. Select Rising edge, Falling edge or Camera type trigger events according to your requirements. A single line entry will be added for each.

6. Click Export.

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Measurements tab

Figure 25.

The Measurement tab is used to control which measurements are included in the exported file(s and, where applicable, the units used. Measurements that will be included are listed in the main window of the Measurements tab. To adjust the order in which the measurements appear, use the up/down arrows to amend the order. The uppermost row appears first.

To add measurements, click Add measurements in lower portion of the window. The Add measurements window shown in Figure 26 will open.


NAVsolve Manual

Figure 26. Add measurements window

To select measurements using the Add measurements window, simply double-click themeasurement you wish to add, or click in the selection box to the left of each measurementname.

Measurements can be searched by typing in the Find box at the top of the window, whichfilters results as you type, or by clicking on a measurement category in the file-tree on theleft-hand side. When a measurement category such as Acceleration is selected, any lettersentered in the Find box will be used to filter the results only from that measurement category.To return to a list of all measurements, click the at the very top of the category list.

Once you have selected the required measurement(s), click Add to close the window and addthe measurements. Measurements can be removed from the Measurements window by right-clicking on them and selecting Delete.

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Graph tab

Figure 27. Export page Graph tab

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The Export page Graph tab allows you to define which part of a file should be exported in theMain file using the green Start marker and red Stop marker. To move either marker simplyclick and drag them.

Any measurements selected for export on the Measurements tab, show up in themeasurements window in the lower-right corner of the Graph tab. Any measurement shownin the window can be loaded into the plot window by double-clicking it. It will then behighlighted in red in the measurement list. As the purple cursor above the plot window ismoved, the measurement values at that time are updated.

The map window in the lower left of the Graph tab shows an overhead view of the path takenduring the data collection. The plot also updates to show the currently selected data accordingto the Start and Stop markers. Clicking the Bing Maps tab plots the data over satellite imagerywhen an internet connection is available.


NAVsolve Manual

Exporting the data

Once you have set the export options and file types that you want to use, initiate the exportprocess by clicking Export. A progress bar to the left of the Export button displays thecurrent progress. Exporting large files at high export frequency make take some time.

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NAVsolve Manual

Batch Process page

Figure 28. Batch Process Page

If you have a number of files that you want all processed the same way with the same base stations, and optionally exported to the same format you can use this batch feature. Most of the settings displayed are configured on their respective pages earlier (e.g. Source page to select all the files you want, Export page to configure the export settings etc.). You can tweak a few settings on the batch page still though, like choosing where the base station files come from with the drop-down (auto, local, or both).

Select multiple files for processing and export. Return to the respective sections of the wizard to alter these files.


Figure 29. Import XML settings

You can save your setting configuration as an XML and import previously saved settings so you don't have to reconfigure it each time you do a new batch.

NAVsolve Manual

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Appendix A: Requirements for Combined (Forwards + Backwards) processing

General requirements

When processing backwards there are some tips needed in order to get the best results. Manyfiles will process backwards correctly, but some will not. Here is a list of things that canimprove the processing or stop it from working.

• A file that ends in a garage can cause problems when processing backwards.Sometimes the GPS works poorly in the garage, causing the system to initialisewhen it shouldn't.

• The end of the file should have a clean brake, from a suitable velocity to astandstill, in a straight line. It should be in a good GPS environment. This is thesame as initialising at the beginning of the file, but now the vehicle should bebraking instead of accelerating. The vehicle should be going forwards during thebrake. Do not reverse above the initialisation speed into a parking space at theend of a file.

• A "warm-up" period at the end of the file will help the Kalman filter achieve thebest results. Like the warm-up at the start of the file, the best warm-up is a seriesof figures of eight in open sky conditions, at different speeds, with some straightline, constant speed motion in the middle of the figures of eight.

• The end of the file should have good GPS conditions, even if a warm-up is notpossible. Rather than ending the test in the middle of city conditions, drive outto more open sky conditions for a few minutes before turning off the INS.

• Systems requiring static initialisation should remain stationary in open sky at theend for long enough so that the static initialisation will work. Static initialisationrarely takes longer than one minute in open-sky conditions, especially with thepitch constraint. However, it may be best to remain stationary for at least fiveminutes, or longer, if static initialisation is going to be used.

• On trains it is common to have a configuration that will not initialise until theuser tells the INS which direction it is going. This will work when processingbackwards, but it is essential to have a command at the end of the file to tell theINS which direction it was going.

• Some commands sent to the INS while running will cause problems. Forexample, if the local co-ordinates, roll, pitch or slip angles are changed whileprocessing (using the Quick Config in NAVdisplay) then combined processingwill not work correctly. It is essential to have a "configuration" RD file, set theconfiguration, then use a separate RD file for the tests.

Appendix

Appendix B: Advanced commands

There are a few advanced commands that may be useful to improve processing (see Table 5).Most of these apply to how the forwards and backwards processing works since the normalcommands in NAVconfig apply to both directions. Occasionally it is necessary to havedifferent options in one direction compared to the other.

The Advanced commands need to be added to the configuration before processing occurs.Use the Review configuration button on the Process Page > Process tab. Click Reviewconfiguration, then select Options and click Advanced at the bottom of the Options page.This will open the Advanced settings window, where the required text should be entered.Remember to save any changes you make by moving to the Save/Finish page and clickingFinish.

Table 5. Advanced commands for RT Post-processCommand Description

-pp_fwd_skipXX.X-pp_bwd_skipXX.X

The -pp_fwd_skip command will force the forward processing to skip XX.X seconds (enter a number, no space before it) before initialising. If the system has failed to initialise at the start of the file then this command can be used to force the initialisation process to wait for another initialisation opportunity in the file.

The -pp_bwd_skip command is the equivalent command but it will skip from the end of the file on the backwards processing.

-pp_fwd_vehicle_level-pp_fwd_vehicle_not_level-pp_bwd_vehicle_level-pp_bwd_vehicle_not_level

The software will normally use the "vehicle starts" value specified on the options page of NAVconfig. However, there may be times when the forward or backward processing requires a different orientation option when initialising. This option can be used to specify the orientation for the forwards and backwards initialisation orientations independently

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-pp_fwd_init_direction_forward-pp_fwd_init_direction_backward-pp_fwd_init_direction_either-pp_bwd_init_direction_forward-pp_bwd_init_direction_backward-pp_bwd_init_direction_either

These commands can be used to specify the direction that the vehicle is travelling in when it crosses the initialisation speed. The software assumes that the vehicle was going forward by default. If the vehicle was travelling backwards when it started then these commands can be used to fix the initialisation so that the data processes correctly. They are controlled independently in case the vehicle was travelling in reverse at one end of the file but not at the other.

The "either" option can be used to stop the initialisation until a command was sent to tell the RT which way it is travelling. This can be used on trains, for example, to prevent the RT from initialising until the user has told the RT which way it is going. Contact OxTS support for more information on this.

Using the "either" option the system can still initialise using static initialisation from the dual-antenna system

-fix_position0 This option will "lock" the position outputs when the RT is stationary. It requires a wheel speed input, which is used to identify that the RT is stationary. When locked the position output will not move. It is useful at traffic lights since the GPS drift continues at this time and it appears as if the RT has "jumped" sideways.

Note that many drivers never come to a halt but continue to move very slowly while waiting for traffic lights to change. This will stop this command from working. Better results will be obtained if the vehicle comes to a halt as quickly as possible and then moves off without creeping forwards

Table 6. Advanced commands for RT Post-process (Continued)Command Description


Appendix

Appendix C: File formats

This section of the manual describes all of the file formats used by OxTS in detail.

POS file

The POS file is output by NAVsolve and is used with several laser scanning systems. It includes time, position and orientation so that laser scans can be corrected. Although some fields can be dropped, for the file to be correct, all fields should be output by NAVsolve. The file is written in text format with space separation between the fields and a <CR> at the end of each line.

Table 7. POS file format field descriptionColumn Field Description

1 Time of day This is the time of day in seconds starting at midnight2 Latitude This is the latitude in decimal degrees3 Longitude This is the longitude in decimal degrees4 Altitude This is the altitude in metres. It will be the ellipsoidal or geoidal

altitude depending on the configuration in NAVconfig5 Roll This is the roll angle in degrees6 Pitch This is the pitch angle in degrees7 Heading This is the heading in degrees

An example line from the POS file is:

37299.750 51.40270413 -0.47022959 10.740 -2.400 4.290 130.060

OTA file

The OTA file is output in the Optech ASCII format. This is a text format that can be used with Optech's software so that the laser points can be geo-referenced. It includes the time, position and orientation. Although some fields can be dropped, for the file to be correct all the fields should be output by NAVsolve. The file is written in text format with comma separation between the fields. No header is included.

Table 8. OTA file format field descriptionColumn Field Description

1 UTC Time of day This is the time of day in seconds starting at midnight and always in UTC time (to match the output of the NMEA ZDA message)

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An example line from the 3DP file is:

2 Latitude This is the latitude in radians3 Longitude This is the longitude in radians4 Altitude This is the ellipsoidal altitude, regardless of the

configuration in NAVconfig. It is output in metres5 Roll This is the roll angle in radians6 Pitch This is the pitch angle in radians7 Heading This is the heading in radians

An example line from the OTA file is:

382899.750,0.8971464315,-0.0082070546,-36.335,-0.0419,0.0749,2.2700

(Note that the altitude in this example is below the ellipsoid.

3DP file

The 3DP format is used in georeferencing applications and is a space delimited format.

Table 10. 3DP file format field descriptionColumn Field Description

1 TimeOfWeek This is the time of day in seconds starting at midnight Sunday and always in UTC time

2 PosLat This is the latitude in degrees3 PosLon This is the longitude in degrees4 PosHeight This is the ellipsoidal altitude, regardless of the configuration in

NAVconfig. It is output in metres5 AngleRoll This is the roll angle in degress6 AnglePitch This is the pitch angle in degrees7 Heading This is the heading in degrees8 PosLatStdev The estimated standard deviation of latitude in degrees 9 PosLonStdev The estimated standard deviation of longitude in degrees

10 PosAltStdev The estimated standard deviation of altitude in metres11 AnglePitchStdev The estimated accuracy of pitch in degrees12 AngleRollStdev The estimated accuracy of roll in degrees13 AngleHeadingStdev The estimated accuracy of heading in degrees

Table 9. OTA file format field description (Continued)Column Field Description


Appendix

458975.000 48.87129114 2.35172560 88.977 -1.505 0.576 286.290 1.232 1.264 1.684 0.048 0.078 0.328

Revision history

Table 11. Revision history

Revision Comments

180117 Initial version

190204 NAVsuite 2.4 – added batch processing and automatic RINEX search/download.

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Index

Index

Numerics3DP 293DP file 40

AAdd measurements 32, 33Advanced commands 37Advanced Processing Settings 24Advanced settings 24All tab 31Application Settings 25

Bbackwards 36Base Station 23Bing Maps 34Bing Maps tab 18

CClean-up working folder after processing 25Combine 23Combined (Forwards + Backwards) 22Cook 23CSV 29cursor 34

DData analysis tab 19Delete 33Display results in NAVgraph 25downloaded 13

EEnable advanced smoothing 24Enginuity 10Export 35Export on 30Export page 27Export to auto incremented file 30Export to main output file 30Export to trigger file 31Extract configurations from raw data file 24

FFeature codes 16File formats 39File type 29Files tab 29Find 33Format 28Format tab 28

GGraph tab 17, 34Graph window 17

HHardware configuration 16Headings 29

IInstallation 9Interpolate 29

MMap preview window 18marker 34MCOM 27measurement category 33measurement cursor 18Measurements tab 32Measurements window 18

NNAVbase 10NAVconfig 10NAVdisplay 10NAVgraph 10NAVsolve 10NAVsuite 9NCOM 27

Oorder 32OTA 29OTA file 39Output data rate 29Output MCOM file 25Output setting 29

44 Oxford Technical Solutions

Index

Ppacket types 15pan/zoom 18POS 29POS file 39Preview page 15Process 21, 22, 23, 26Process page 20Process Tab 21Product details 16Product information tab 16

Rraw data 13Review configuration 21, 22RINEX 23RT Post-process 10RTCM 23

SSelect file 15, 20Simulated (Simulated) 22Simulated and Combined (Simulated + Forwards +Backwards) 22Source page 13Start marker 34Start time 28Stop marker 34Stop time 29summary 15

TTime reference unit 28trigger information 29Trigger output file 30

Uunits 32

Wwarm-up 36Write invalid as 29Write status as 29

XXCOM 27

45Revision: 190204

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